US8904902B2 - Unique motor type motor driven column apparatus - Google Patents

Unique motor type motor driven column apparatus Download PDF

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Publication number
US8904902B2
US8904902B2 US13/294,664 US201113294664A US8904902B2 US 8904902 B2 US8904902 B2 US 8904902B2 US 201113294664 A US201113294664 A US 201113294664A US 8904902 B2 US8904902 B2 US 8904902B2
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Prior art keywords
telescoping
tilt
block
moving
motor
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US13/294,664
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US20120137818A1 (en
Inventor
Donghan Lee
Sanggyu Yoon
Sungjong Hong
Sangchul Ku
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hyundai Motor Co
Namyang Industrial Co Ltd
Kia Corp
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Hyundai Motor Co
Kia Motors Corp
Namyang Industrial Co Ltd
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Application filed by Hyundai Motor Co, Kia Motors Corp, Namyang Industrial Co Ltd filed Critical Hyundai Motor Co
Assigned to KIA MOTORS CORPORATION, HYUNDAI MOTOR COMPANY, NAMYANG IND. CO., LTD. reassignment KIA MOTORS CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HONG, SUNGJONG, KU, SANGCHUL, LEE, DONGHAN, YOON, SANGGYU
Publication of US20120137818A1 publication Critical patent/US20120137818A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/16—Steering columns
    • B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
    • B62D1/181—Steering columns yieldable or adjustable, e.g. tiltable with power actuated adjustment, e.g. with position memory

Definitions

  • the present invention relates to a motor driven column apparatus, and more particularly, to a unique motor type motor driven column apparatus using one unified motor to implement tilt and telescoping motions.
  • motor driven power steering (MDPS) systems which are motor driven steering systems are a type which does not use fluid pressure and assists steering power with motor power, and are mainly applied to compact vehicles.
  • An MDPS system has a decelerator including a worm shaft and a worm wheel rotating by a motor in order to assist the steering power, and uses a motor driven column apparatus having a tilt motor and a telescoping motor to implement tilt and telescoping motions, respectively.
  • An MDPS motor is controlled by an MDPS ECU, and the tilt motor and the telescoping motor are controlled by a separate tilt/telescoping ECU.
  • FIG. 8 shows a motor driven column apparatus having an MDPS motor, a tilt motor, a telescoping motor, and an MDPS ECU and a tilt/telescoping ECU for controlling those motors as described above.
  • the motor driven column apparatus has an MDPS motor 200 and a decelerator for assisting steering power provided in a column tube 100 covering a steering shaft 100 a , a tilt mechanism for tilting column tube 100 up and down, and a telescoping mechanism for telescoping transmission.
  • the tilt mechanism includes a tilt motor 300 which is a power source, a deceleration gear 301 decelerating the rotation of the motor and increasing torque, and a tilt rod 302 moving a tilt bracket 303 by an output of deceleration gear 301 .
  • the telescoping mechanism includes a telescoping motor 400 which is a power source, a deceleration gear 401 decelerating the rotation of the motor and increasing torque, and a telescoping rod 402 moving a telescoping bracket 403 by an output of deceleration gear 401 .
  • an MDPS ECU 210 for controlling MDPS motor 200 and a tilt/telescoping ECU 500 for controlling tilt motor 300 and telescoping motor 400 are provided, respectively.
  • MDPS ECU 210 is configured to receive a signal of an MDPS motor/angle sensor
  • tilt/telescoping ECU 500 is configured to receive signals of a tilt motor/angle sensor and a telescoping motor/angle sensor.
  • the tilt mechanism having MDPS motor 200 for assisting the steering power and the tilt mechanism having tilt motor 300 and the telescoping mechanism having telescoping motor 400 are separately provided to the motor driven column apparatus as described above, a structure for tilt and telescoping operations is complex, and especially, when the motor driven column apparatus is installed together with a knee airbag, a column collision absorption structure, etc., it is very difficult to secure a package.
  • Various aspects of the present invention are directed to providing a unique motor type motor driven column apparatus which uses one unified motor as a power source to implement tilt and telescoping motions, thereby simplifying a tilt and telescoping structure and making it easy to ensure a package of a knee airbag, a column collision absorption structure, etc.
  • the unique motor type motor driven column apparatus may include a motor attached to a telescoping tube that slidably receives a column tube therein, wherein the telescoping tube may be pivotally coupled with a vehicle body by a tilt bracket, an actuating rod rotating by the motor, a tilt mechanism including a tilt clutch receiving the actuating rod therethrough and selectively engaged therebetween by a motor controller such that a rotation force of the actuating rod may be converted into a linear movement of the tilt mechanism so as to make a tilt motion of the column tube, and a telescoping mechanism including a telescoping clutch receiving the actuating rod therethrough and selectively engaged therebetween by the motor controller such that a rotation force of the actuating rod may be converted into a linear movement of the telescoping mechanism so as to make a telescoping motion of the column tube.
  • the tilt mechanism may further include a first block housing, and a first moving block operably mounted in the first block housing with a predetermined gap therebetween so that the actuating rod passes through and may be engaged with the first moving block, and wherein the first moving block may include a first groove formed on an outer surface thereof.
  • the tilt clutch may include a plug rod which may be selectively engaged with the first groove through an opening formed in the first block housing by the motor controller.
  • the tilt bracket may be pivotally coupled with the first block housing and the vehicle body.
  • a tilt sensor may include a moving knob fixed to the first block housing, and a potentiometer installed in the telescoping tube at a position of the moving knob to sense a position change of the moving knob according to the tilt motion so as to signal tilting amount to the motor controller.
  • the telescoping mechanism further may include a second block housing, and a second moving block operably mounted in the second block housing with a predetermined gap therebetween so that the actuating rod passes through and may be engaged with the second moving block, and wherein the second moving block may include a second groove formed on an outer surface thereof.
  • the telescoping clutch may include a plug rod which may be selectively engaged with the second groove through an opening formed in the second block housing.
  • the telescoping mechanism further may include a telescoping rod, an end of which may be attached to the second block housing and the other end of which may be attached to a support bracket coupled to the column tube.
  • a telescoping sensor may include a moving knob fixed to the second block housing, and a potentiometer installed in the telescoping tube at a position of the moving knob to sense a position change of the moving knob according to the telescoping motion so as to signal telescoping amount to the motor controller.
  • the motor driven column apparatus uses a unified motor as a power source for implementing tilt and telescoping motions. Therefore, it is possible to simplify a tilt and telescoping structure and make it easy to ensure a package of a knee airbag, a column collision absorption structure, etc.
  • FIG. 1 is a view illustrating a configuration of a unique motor type motor driven column apparatus according to an exemplary embodiment of the present invention.
  • FIGS. 2A and 2B are views illustrating configurations of tilt and telescoping clutches of the unique motor type motor driven column apparatus according to the exemplary embodiment of the present invention.
  • FIGS. 3A and 3B are views illustrating configurations of potentiometers of the unique motor type motor driven column apparatus according to the exemplary embodiment of the present invention.
  • FIGS. 4 and 5 are views illustrating tilt operations of the unique motor type motor driven column apparatus according to the exemplary embodiment of the present invention.
  • FIGS. 6 and 7 are views illustrating telescoping operations of the unique motor type motor driven column apparatus according to the exemplary embodiment of the present invention.
  • FIG. 8 is a view illustrating a configuration of a motor driven column apparatus having an MDPS motor, a tilt motor, and a telescoping motor, and an MDPS ECU and a tilt/telescoping ECU for controlling the motors according to the related art.
  • FIG. 1 is a view illustrating a configuration of a unique motor type motor driven column apparatus according to an exemplary embodiment of the present invention.
  • the motor driven column apparatus includes a column tube 1 joined with a mounting bracket 2 mounted to a vehicle body 800 and covering a steering shaft 1 a , an MDPS motor 3 controlled by an MDPS motor ECU 3 a and installed in column tube 1 , a unified motor 5 controlled by a unified motor ECU 4 , generating power for tilt and telescoping motions of steering shaft 1 a , and installed in telescoping tube 30 , a decelerator 6 decelerating the rotation of unified motor 5 and increasing a torque output, and an actuating rod 7 aligned along an axis direction of column tube 1 and rotating by decelerator 6 .
  • Decelerator 6 and actuating rod 7 are connected to each other as a screw and nut structure for decelerating the rotation of unified motor 5 .
  • Actuating rod 7 has a thread formed on the outer circumference surface along the overall length.
  • Actuating rod 7 is supported at one or more positions.
  • a rod support end 31 integrally formed with a telescoping tube 30 covering column tube 1 supports the middle portion of actuating rod 7 .
  • the motor driven column apparatus further includes a tilt mechanism 10 engaged with actuating rod 7 to implement a tilt motion by a linear movement of actuating rod 7 , a telescoping mechanism 20 engaged with actuating rod 7 inside tilt mechanism 10 to implement a telescoping motion by rotation of actuating rod 7 , and a tilt sensor 40 and a telescoping sensor 50 sensing a motion of tilt mechanism 10 and a motion of telescoping mechanism 20 and transmitting signals to unified motor ECU 4 .
  • a tilt mechanism 10 engaged with actuating rod 7 to implement a tilt motion by a linear movement of actuating rod 7
  • a telescoping mechanism 20 engaged with actuating rod 7 inside tilt mechanism 10 to implement a telescoping motion by rotation of actuating rod 7
  • a tilt sensor 40 and a telescoping sensor 50 sensing a motion of tilt mechanism 10 and a motion of telescoping mechanism 20 and transmitting signals to unified motor ECU 4 .
  • FIGS. 2A and 2B show internal configurations of clutches of the tilt and telescoping mechanisms according to the exemplary embodiment of the present invention.
  • tilt mechanism 10 includes a tilt clutch 11 , a block housing 13 , a moving block 14 , and a tilt bracket 18 .
  • Tilt clutch 11 has a plug rod 12 controlled by unified motor ECU 4 to be drawn from and into tilt clutch 11 .
  • the tilt clutch 11 may be an electromagnetic actuator or pneumatic actuator but limited thereto so as to move the plug rod 12 as generally known in the art.
  • Actuating rod 7 passes through block housing 13 , and block housing 13 has an opening 13 a from and into which plug rod 12 of tilt clutch 11 is drawn.
  • Moving block 14 is accommodated in block housing 13 with a predetermined gap therebetween and is locked by or released from plug rod 12 .
  • Actuating rod 7 is coupled with moving block 14 in a screw-coupling manner, and passes through moving block 14 .
  • Tilt bracket 18 is connected from block housing 13 to mounting bracket 2 to tilt column tube 1 .
  • moving block 14 If moving block 14 is not locked by plug rod 12 of tilt clutch 11 , moving block 14 rotates idle with actuating rod 7 at the same place since the moving block 14 is spaced with the block housing 13 with a gap. If moving block 14 is locked with the actuating rod 7 by plug rod 12 of tilt clutch 11 being positioned into a groove 140 formed along outer surface of the moving block 14 , moving block 14 linearly moves by actuating rod 7 .
  • a tilt motion is implemented by the above-mentioned linear movement of moving block 14 .
  • a pair of inner rings 15 and 16 is positioned on both sides (i.e. left and right) of moving block 14 .
  • an outer ring 17 is positioned outside block housing 13 .
  • a lower end portion of tilt bracket 18 is linked with block housing 13 by a lower end hinge shaft 19 a
  • an upper end portion of tilt bracket 18 is linked with mounting bracket 2 by an upper end hinge shaft 19 b.
  • tilt bracket 18 forms a two-point hinge structure, such that, during tilt, the lower end portion of tilt bracket 18 linked by lower end hinge shaft 19 a is pushed aside and rotates.
  • upper end hinge shaft 19 b acts as a rotation shaft for tilt bracket 18 .
  • tilt bracket 18 can tilt column tube 1 by the movement of the lower end portion linked by lower end hinge shaft 19 a without a movement of the upper end portion linked by upper end hinge shaft 19 b.
  • Tilting column tube 1 up is implemented by a counterclockwise rotation of tilt bracket 18
  • tilting column tube 1 down is implemented by a clockwise rotation of tilt bracket 18 .
  • Telescoping mechanism 20 shown in FIG. 2B includes a telescoping clutch 21 , a block housing 23 , a moving block 24 , a telescoping rod 28 , and telescoping tube 30 .
  • Telescoping clutch 21 has a plug rod 22 controlled by unified motor ECU 4 to be drawn from and into telescoping clutch 21 .
  • the telescoping clutch 21 may be an electromagnetic actuator pneumatic actuator but limited thereto so as to move the plug rod 22 as generally known in the art.
  • Actuating rod 7 passes through block housing 23 , and block housing 23 has an opening 23 a from and into which plug rod 22 of telescoping clutch 21 is drawn.
  • Moving block 24 is accommodated in block housing 23 and is locked or released by plug rod 22 .
  • Actuating rod 7 is coupled with moving block 24 in a screw-coupling manner, and passes through moving block 24 .
  • Telescoping rod 28 is fixed to block housing 23 and guides the movement of support bracket 8 to which the telescoping rod 28 is connected, wherein the support bracket 8 is joined with column tube 1 .
  • Telescoping tube 30 is fixed to block housing 23 to be capable of a telescoping movement and covers column tube 1 .
  • moving block 24 If moving block 24 is not locked by plug rod 22 of telescoping clutch 21 , moving block 24 rotates idle with actuating rod 7 at the same place since the moving block 24 is spaced with the block housing 23 with a gap. If moving block 24 is locked with actuating rod 7 by plug rod 22 of telescoping clutch 21 being positioned into a groove 240 formed along outer surface of the moving block 24 , moving block 24 linearly moves by the actuating rod 7 .
  • the telescoping motion is implemented by the above-mentioned linear movement of moving block 24 .
  • a pair of inner rings 25 and 26 is positioned on both sides (i.e. left and right) of moving block 24 .
  • an outer ring 27 is positioned outside block housing 23 .
  • telescoping tube 30 is integrally formed with rod support end 31 supporting the middle portion of actuating rod 7 .
  • FIGS. 3A and 3B are views illustrating configurations of tilt and telescoping sensors of the unique motor type motor driven column apparatus according to the exemplary embodiment of the present invention.
  • tilt sensor 40 includes a moving knob 41 fixed to block housing 13 in perpendicular to block housing 13 inside tilt bracket 18 to follow the tilt motion, and a potentiometer 42 horizontally installed at the position of moving knob 41 to sense a position change of moving knob 41 according to the tilt motion.
  • tilt sensor 40 transmits a signal based on the sensed tilt motion to unified motor ECU 4 .
  • telescoping sensor 50 includes a moving knob 51 fixed to block housing 23 in perpendicular to block housing 23 to follow the telescoping motion, and a potentiometer 52 horizontally installed at the position of moving knob 51 to sense a position change of moving knob 51 according to the telescoping motion.
  • telescoping sensor 50 transmits a signal based on the sensed telescoping motion to unified motor ECU 4 .
  • FIG. 4 shows a tilt operation state of the unique motor type motor driven column apparatus according to the exemplary embodiment of the present invention. If a tilt motion is implemented, the rotation of unified motor 5 driven by the control of unified motor ECU 4 is decelerated by decelerator 6 and is converted into a motion for moving actuating rod 7 forward (in a case of tilting column tube 1 up) while rotating actuating rod 7 .
  • unified motor ECU 4 differently controls tilt clutch 11 of tilt mechanism 10 and telescoping clutch 21 of telescoping mechanism 20 , such that the tilt motion can be implemented by the operation of tilt mechanism 10 without interference of telescoping mechanism 20 .
  • unified motor ECU 4 draws plug rod 12 of tilt clutch 11 into opening 13 a of block housing 13 while drawing out plug rod 22 of telescoping clutch 21 from opening 23 a of block housing 23 .
  • moving block 14 of tilt mechanism 10 is locked by plug rod 12 (a locked state Ka), while moving block 24 of telescoping mechanism 20 is released from plug rod 22 (a released state Kb), such that moving block 14 of tilt mechanism 10 moves forward along actuating rod 7 without rotating, while moving block 24 of telescoping mechanism 20 rotates idle at the same place without moving forward along actuating rod 7 .
  • moving block 14 of tilt mechanism 10 moves forward as described above, the forward movement force of moving block 14 is converted into a force for pushing block housing 13 through inner ring 16 .
  • moving block 14 of tilt mechanism 10 moves forward along actuating rod 7 moving forward while rotating so as to push block housing 13 .
  • tilt bracket 18 moves up while rotating so as to tilt column tube 1 up.
  • tilt bracket 18 for tilting column tube 1 up is implemented by an action of lower end hinge shaft 19 a and upper end hinge shaft 19 b forming the two-point hinge structure of tilt bracket 18 .
  • tilt bracket 18 tilts column tube 1 up by the movement of the lower end portion without the movement of the upper end portion.
  • actuating rod 7 moves backward while reversely rotating, such that tilt bracket 18 clockwise rotates so as to tilt column tube 1 down. That is, an operation process for tilting column tube 1 down is the same as the above-mentioned operation process for tilting column tube 1 up, except for the operation directions of the components.
  • FIG. 5 shows an operation state for detecting the tilt motion during tilt according to the exemplary embodiment of the present invention. If the tilt motion is implemented, in tilt mechanism 10 , block housing 13 is pushed or pulled by moving block 14 to push or pull tilt bracket 18 . The motion of block housing 13 moves moving knob 41 , fixed to block housing 13 in perpendicular thereto, in the same direction as block housing 13 .
  • the motion of moving knob 41 causes a position change of moving knob 41 relative to potentiometer 42 , and potentiometer 42 transmits an electric signal corresponding to the position change of moving knob 41 to unified motor ECU 4 .
  • unified motor ECU 4 can exactly recognize the progression degree of the tilt motion, and thus, unified motor ECU 4 can greatly improve the accuracy of the tilt motion.
  • FIG. 6 shows a telescoping operation state of the unique motor type motor driven column apparatus according to the exemplary embodiment of the present invention. If the telescoping motion is implemented, the rotation of unified motor 5 driven by the control of unified motor ECU 4 is decelerated by decelerator 6 and then is converted into a motion for moving actuating rod 7 forward (assuming a case of performing forward telescoping) while rotating actuating rod 7 .
  • unified motor ECU 4 differently controls tilt clutch 11 of tilt mechanism 10 and telescoping clutch 21 of telescoping mechanism 20 , such that the telescoping motion can be implemented by the operation of telescoping mechanism 20 without interference of tilt mechanism 10 .
  • unified motor ECU 4 draws out plug rod 12 of tilt clutch 11 from opening 13 a of block housing 13 while drawing plug rod 22 of telescoping clutch 21 into opening 23 a of block housing 23 .
  • moving block 24 of telescoping mechanism 20 is locked by plug rod 22 (locked state Kc), while moving block 14 of tilt mechanism 10 is released from plug rod 12 (released state Kd), such that moving block 24 of telescoping mechanism 20 moves forward along actuating rod 7 without rotating, while moving block 14 of tilt mechanism 10 rotates idle at the same place without moving forward along actuating rod 7 .
  • moving block 24 of telescoping mechanism 20 moves forward as described above, the forward movement force of moving block 24 is converted into a force for pushing block housing 23 through inner ring 26 .
  • moving block 24 of telescoping mechanism 20 moves forward along actuating rod 7 moving forward while rotating so as to push block housing 23 .
  • block housing 23 pushes telescoping rod 28 and thereby moving the support bracket 8 joined with column tube 1 .
  • Telescoping tube 30 pushes column tube 1 covered by telescoping tube 30 while being pushed as described above so as to implement forward telescoping to make a steering wheel closer to a driver side.
  • tilt mechanism 10 does not make any tilt motion according to the forward movement of actuating rod 7 as described above.
  • actuating rod 7 moves backward while reversely rotating, such that telescoping rod 28 is pulled so as to implement backward telescoping. That is, an operation process for backward telescoping is the same as the above-mentioned operation process for forward telescoping, except for the operation directions of the components.
  • FIG. 7 shows an operation state for detecting the telescoping motion during telescoping according to the exemplary embodiment of the present invention. If the telescoping motion is implemented, in telescoping mechanism 20 , block housing 23 is pushed or pulled by moving block 24 to push or pull telescoping rod 28 . The motion of block housing 23 moves moving knob 51 , fixed to block housing 23 in perpendicular thereto, in the same direction as block housing 23 .
  • the motion of moving knob 51 causes a position change of moving knob 51 relative to potentiometer 52 , and potentiometer 52 transmits an electric signal corresponding to the position change of moving knob 51 to unified motor ECU 4 .
  • unified motor ECU 4 can exactly recognize the progression degree of the telescoping motion, and thus, unified motor ECU 4 can greatly improve the accuracy of the telescoping motion.
  • the motor driven column apparatus includes tilt mechanism 10 having tilt clutch 11 converting the rotation force of actuating rod 7 moving by one unified motor 5 into a linear movement force for the tilt motion, and telescoping mechanism 20 having telescoping clutch 21 converting the rotation force of actuating rod 7 into a linear movement force for the telescoping motion. Therefore, the simple configuration with one unified motor 5 makes it easy to secure a package of a knee airbag, a column collision absorption structure, etc.
  • the motor driven column apparatus further includes potentiometers 42 and 52 sensing the tilt motion and the telescoping motion and transmitting the electric signals to unified motor ECU 4 . Therefore, the accuracy of the tilt and telescoping motions is greatly improved, and the reliability is also greatly improved.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Controls (AREA)
  • Mechanical Control Devices (AREA)
  • Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
US13/294,664 2010-12-06 2011-11-11 Unique motor type motor driven column apparatus Active 2033-03-07 US8904902B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2010-0123777 2010-12-06
KR1020100123777A KR101338645B1 (ko) 2010-12-06 2010-12-06 단일 모터 타입 전동컬럼장치

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US20120137818A1 US20120137818A1 (en) 2012-06-07
US8904902B2 true US8904902B2 (en) 2014-12-09

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US (1) US8904902B2 (zh)
JP (1) JP5759311B2 (zh)
KR (1) KR101338645B1 (zh)
CN (2) CN102556150B (zh)
DE (1) DE102011055556A1 (zh)

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US20150069745A1 (en) * 2012-05-25 2015-03-12 Nsk Ltd. Electric Position Adjustment Apparatus for Steering Wheel

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KR101724452B1 (ko) * 2011-11-21 2017-04-10 현대자동차 주식회사 차량 조향 장치 및 차량 조향 제어 시스템
KR102015960B1 (ko) 2013-07-10 2019-08-29 한온시스템 주식회사 2방향 클러치
CN104085441B (zh) * 2014-05-30 2016-05-04 重庆龙润汽车转向器有限公司 一种电动助力转向控制器的安装支架
KR102274121B1 (ko) 2017-04-03 2021-07-06 현대자동차주식회사 자동차용 전동식 스티어링 컬럼 장치
DE102017120669A1 (de) * 2017-09-07 2019-03-07 Trw Automotive Gmbh Lenksäulenbaugruppe für ein Kraftfahrzeug sowie Lenkungssystem
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DE102019209680A1 (de) * 2018-07-30 2020-01-30 Robert Bosch Engineering And Business Solutions Private Limited Aktuatoreinheit für ein lenkrad eines fahrzeugs
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KR20210076351A (ko) 2019-12-16 2021-06-24 남양넥스모 주식회사 가변 충돌에너지 흡수 기능을 갖는 전동컬럼
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KR20220062784A (ko) 2020-11-09 2022-05-17 남양넥스모 주식회사 차량용 컬럼의 충격흡수 구조
CN114954621B (zh) * 2022-05-23 2023-09-12 安徽冠润汽车转向系统有限公司 一种汽车转向管柱用调节机构及其调节方法
CN115352520B (zh) * 2022-08-29 2024-03-01 奇瑞新能源汽车股份有限公司 一种方向盘调节装置及控制方法

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CN105172877B (zh) 2018-02-02
KR20120062492A (ko) 2012-06-14
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JP5759311B2 (ja) 2015-08-05
US20120137818A1 (en) 2012-06-07

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